Commit 62b033b6 authored by Andrea Del Prete's avatar Andrea Del Prete
Browse files

Add T_pre and T_post to configuration parameters for ex 4

parent 293dd42e
...@@ -49,6 +49,8 @@ nb_steps = 4 # number of desired walking steps ...@@ -49,6 +49,8 @@ nb_steps = 4 # number of desired walking steps
# configuration for TSID # configuration for TSID
# ---------------------------------------------- # ----------------------------------------------
dt = 0.002 # controller time step dt = 0.002 # controller time step
T_pre = 1.0 # simulation time before starting to walk
T_post = 1.0 # simulation time after walking
w_com = 1.0 # weight of center of mass task w_com = 1.0 # weight of center of mass task
w_foot = 1e-1 # weight of the foot motion task w_foot = 1e-1 # weight of the foot motion task
......
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